Single wheel robot system and its control method

Abstract

This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot. The single wheel robot includes mechanical body and control system; the body contains a single wheel in the substructure which can rotate around for balance; the control system comprises state sensors, motion controller, servo-driven controllers, and a power system. Among them, the motion controller receive signals from the state sensors, in accordance with control procedures for processing of the received signal, thereby issuing control instructions. The servo drive controller receives the control instructions and controls the motors of the robot to adjust posture to be balanced.

Description

CROSS-REFERENCE TO RELATED APPLICATION[0001]This application claims the priority benefits of Chinese application No. 200910088708.6 filed on Jul. 8, 2009, the content of which is hereby incorporated by reference in its entirety.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]This invention relates to a single wheel robot system and its control method. The robot is an intelligent self-control and thus self-balancing unicycle riding robot. The control method is the balance control method of the static imbalance unicycle robot.[0004]2. Description of Related Art[0005]Riding unicycle is complicated activity requiring a lot of advanced skill of balance. To obtain such capacity special study and training are needed. The study of autonomous robots which can imitate riding unicycle is the drive of such invention regarding self-control unicycle riding robots.[0006]A single wheel robot is designed to imitate the activities of people riding a single wheel bicycle. The emergence...

AI Technical Summary

Benefits of technology

[0045]Compared to existing static equilibrium robot, such as s the four wheels mobile robot, the invention provides a control platform for robotics research, the field of control science, intelligent control and other multi-disciplinary research and teaching. And it has the following advantages:

[0046]1) 2 coupled degrees of freedom make non-linear and uncertainty of the system increase, and more suitable for nonlinear control, robust control, intelligent control and learning control research. The adjustable bracket for debugging robot can not only change the height of the support caster 15, but also can turn the robot into equivalent of three front-line mobile inverted pendulum like self-balancing “Segway” scooter, or self-balancing bicycle-riding robot like “Murata Boy” after the castors 15 of one of the degrees of freedom removed.

[0047]2) Control systems can be classified into three main control layer: 1, main controller (3) 2, motion controller (10), 3, servo-driven controller. Such three-level hierarchical control structure is in line with biotechnology. All controllers carry out their duties, integrating the robot with high processing ability and intelligence level. A lot of kinds of complex control algorithms, motion control skills and learning of other intelligent behavior can be effectively carried out.

[0048]Modular design concept makes the robot structured, every part of the robot is removable and replaceable except the smallest components of the system for system maintenance or upgrades. This provides a great convenience to user's flexible demand. Such as: visual sensor systems and voice processing systems may be added to run the visual recognition, speech recognition function; a remote control system and obstacle avoidance systems can be equipped to provided the robot with a remotely operated and autonomous obstacle avoidance ability.

Problems solved by technology

Riding unicycle is complicated activity requiring a lot of advanced skill of balance.

But “she” has no mechanical arms and dexterous hand to perform some tasks, and still has no ability of carrying out complex task such us visual mission.

She transmits the information to the host computer for processing and lacks the flexibility to expand Debugging with castors components.

Her detection in only four single-axis gyro will produce the angle integral migration issue, and ultimately lead to system instability.

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